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Kendrion Ventura FIO Instruction Manual

Canopen counter - mixed modules ip20 ethercat i/o modules
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Instruction Manual
Kuhnke FIO – Counter - Mixed Modules
IP20 EtherCAT I/O Modules
E 747GB-V2
17 May 2021

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Summary of Contents for Kendrion Ventura FIO

  • Page 1 Instruction Manual Kuhnke FIO – Counter - Mixed Modules IP20 EtherCAT I/O Modules E 747GB-V2 17 May 2021...

  • Page 2: Table Of Contents

    3 Introduction ..............................15 EtherCAT® — Ethernet Control Automation Technology ..............15 Kuhnke FIO (Fast Input / Output) ....................... 15 Kuhnke FIO — Ventura FIO ....................... 16 4 System Description ............................17 General Service Conditions ....................... 17 Mechanical Design ..........................17 Installation ..............................
  • Page 3 Kendrion Kuhnke Automation GmbH Table of Contents General Instructions ..........................20 System Power Supply ..........................21 Earth ................................21 Bus Coupler ............................... 22 I/O Modules ............................... 22 Status LEDs ............................24 LED "EtherCAT Run" ..........................24 LED "In L/A", LED "Out L/A" ........................24 LED "IO"...
  • Page 4 Table of Contents Kendrion Kuhnke Automation GmbH Encoder interface configuration – Incremental encoder ..............120 Encoder interface configuration – SSI Encoder .................. 121 Encoder interface configuration – ENDAT Encoder ................122 Encoder interface configuration – Event counter ................123 Encoder interface configuration – User-defined units ................. 124 Analogue interface configuration –...
  • Page 5 Kendrion Kuhnke Automation GmbH Table of Contents Kuhnke FIO DI16 1ms ......................... 228 Kuhnke FIO DI16 2-wire ........................228 Kuhnke FIO DI32 1ms ......................... 228 Kuhnke FIO DO8 1A ..........................228 Kuhnke FIO DO8 2A ..........................228 Kuhnke FIO DO16 0.5A ........................228 Kuhnke FIO DO16 2-wire ........................
  • Page 6 Preface Kendrion Kuhnke Automation GmbH Modification history Date Comments / modifications 25 Aug 2017 Source version after separation of the instructions into categories and translation 14 Jan 2019 Mounting instructions for the potential distributor added 28 Jan 2020 Design change...

  • Page 7: Preface

    © CODESYS V3 is a product of 3S-Smart Software GmbH. Warranty Warranty is subject to the provisions of the conditions of sale of Kendrion Kuhnke Automation GmbH or any contractual agreements between the parties. (E 747GB-V2) 17 May 2021...

  • Page 8: Manual Objective And Organisation

    Preface Kendrion Kuhnke Automation GmbH Manual Objective and Organisation This manual describes the EtherCAT slave IO modules of Kuhnke FIO. These modules provide the EtherCAT master with the sensor details and operate the actuators. Other modules control the communication with other systems.

  • Page 9: Reliability, Safety

    Kendrion Kuhnke Automation GmbH Reliability, Safety 2 Reliability, Safety 2.1 Intended Use For reasons of personal safety and to avoid material damages when working with or handling this Kuhnke product, you are advised to take heed of the notes and information contained in this instruction manual.

  • Page 10: Reliability

    Reliability, Safety Kendrion Kuhnke Automation GmbH 2.5 Reliability Reliability of Kuhnke products is brought to the highest possible standards by extensive and cost-effective means in their design and manufacture. These include:  selecting high-quality components,  quality agreements with our suppliers, ...

  • Page 11: Hazard And Other Warnings

    Kendrion Kuhnke Automation GmbH Reliability, Safety 2.6 Hazard and other Warnings Despite the actions described in section 2.4, the occurrence of faults or errors in electronic control units - even if most highly improbable - must be taken into consideration.

  • Page 12: Safety

    Reliability, Safety Kendrion Kuhnke Automation GmbH 2.7 Safety Our products normally become part of larger systems or installations. The information below is intended to help you integrate the product into its environment without dangers to humans or material/equipment. DANGER Non-observance of the instruction manual Measures for the prevention of dangerous faults or errors may be rendered ineffective or new hazard sources created.

  • Page 13: Disposal

    Kendrion Kuhnke Automation GmbH Reliability, Safety Disposal  When disposing of the FIO modules, ensure that the modules are disposed of in accordance with the applicable environmental regulations.  Treat the packaging as recyclable paper and cardboard. 2.8 Electromagnetic Compatibility...

  • Page 14: Location Of Installation

    Reliability, Safety Kendrion Kuhnke Automation GmbH  DC voltages 60 V ... 400 V  AC voltages 25 V ... 400 V Joint laying of control circuits is allowed for:  shielded data signals  shielded analogue signals  unshielded digital I/O lines ...

  • Page 15: Introduction

    Kendrion Kuhnke Automation GmbH Introduction 3 Introduction — Ethernet Control Automation Technology 3.1 EtherCAT® EtherCAT is the most powerful Ethernet-based fieldbus system currently available on the market. EtherCAT puts up the top speed mark, and its flexible topology and simple configuration make it the perfect means of controlling extremely fast processes.

  • Page 16: Kuhnke Fio - Ventura Fio

    ETG (power engineering association of VDE). The revised modules are therefore referred to Kuhnke FIO or FIO V2. Kuhnke FIO and Ventura FIO are compatible if they share the same order number. If so they are interchangeable without having to modify the control programs.

  • Page 17: System Description

    Kendrion Kuhnke Automation GmbH System Description 4 System Description 4.1 General Service Conditions This section describes the general requirements of installing, wiring and troubleshooting the Kuhnke FIO modules. For a list of System Properties of Kuhnke FIO refer to chapter 0, page 225.

  • Page 18: Installation

    System Description Kendrion Kuhnke Automation GmbH Installation Kuhnke FIO I/Os mount on 35 mm x 7.5 mm rails to DIN EN 50022. Position Mount with rail horizontally with the modules' multiple socket connectors pointing away from the wall. To ensure that enough air gets in through the ventilation slots, leave at least 20 mm to the top and 35 mm to adjacent devices or cabinet surfaces.

  • Page 19: To Snap On A Single Module

    Kendrion Kuhnke Automation GmbH System Description To Snap on a Single Module  Push up the module against the mounting rail from below, allowing the metal spring to snap in between mounting rail and mounting area as illustrated. Push the top of the module against the mounting wall until it snaps in.

  • Page 20: System Power Supply

    System Description Kendrion Kuhnke Automation GmbH 4.3 System Power Supply General Instructions Multi-connector plugs provide many connections in a tight space.  Unlock buttons make it easier to unplug larger connectors where there is little space.  Screw fittings reliably hold small connectors in place.

  • Page 21: System Power Supply

    Kendrion Kuhnke Automation GmbH System Description System Power Supply A system connector supplies the Kuhnke FIO Safety I/O system with system power from an upstream bus coupler or a compact controller. This system power supply is used for the analysis circuitry and for bus communication only.

  • Page 22: Bus Coupler

    System Description Kendrion Kuhnke Automation GmbH In special cases you may attach the earth wire straight to the module. Module earth connection options Information Earth wires should be short and have a large surface (copper mesh). Refer to http://de.wikipedia.org/wiki/ground_(electronics) for further details...
  • Page 23 Kendrion Kuhnke Automation GmbH System Description Spring-assisted connector with I/O module unlock button Two-row push-In connector with unlock button NOTE Externally turning off the I/O power supply (L+) can be used to trip all outputs. In that case, LED Power indicates that no voltage is being supplied.

  • Page 24: Status Leds

    System Description Kendrion Kuhnke Automation GmbH 4.4 Status LEDs LED "EtherCAT Run" An LED labelled "EtherCAT Run" is located on both the bus coupler and the I/O modules. It indicates the state of the EtherCAT ASIC. State LED flash code...

  • Page 25: Kuhnke Fio Modules

    Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 5 Kuhnke FIO Modules 5.1 Counter / Posi / Drive / CAM Modules 5.1.1 Counter/Posi2 5V, Counter2 5V Pin wiring of Counter/Posi2 Front view of I/O module Counter/Posi2 Pin wiring of Counter2 Front view of I/O module Counter2 Terminals Trm.

  • Page 26: Status Leds

    Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH Operative earth / shield  section 0 Status LEDs "EtherCAT" LED The LED labelled "EtherCAT" indicates the state of the EtherCAT ASIC. State LED flash code Explanation Init Initialising, no data exchange...

  • Page 27: Function

    Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 Function Module Counter2 features 2 identical channels. Every channel features ports for 1 incremental encoder, 4 digital inputs and 1 digital output. Module Counter/Posi2 also has an extra analogue output. The variables are put into groups.
  • Page 28 Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH To Control and Monitor the Entire Module The module is controlled by the variables of group "Module Control“. The state of the settings is contained in the variables of group "Module State".
  • Page 29 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 Counter 1 Options The module provides you with various options of how to operate Counter 1. The module uses control bit "SetOptions_1" (refer to Counter 1 Control) to set the options which are retained until the settings are changed the next time.
  • Page 30 Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH Counter 1 State The status variables indicate the state of the counter. This applies to  events and  notifications that settings are being applied. Variable Data type Explanation Counting_1 BOOL Counter enabled Reference function has been run.
  • Page 31 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 Variable Data type Explanation Selects the value of Counter1 to be shown in variable "SelectedValue". None Reference value (Compare) Preset value (Preset) Select_1 USINT Final value (Max) (default: 2.147.483.647) Captured value (Capture) Counting pulses per second...
  • Page 32 Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH Digital I/Os Counter 1 - Digital Inputs These variables indicate the state of the digital inputs. Variable Data type Explanation Input_0_0 BOOL Digital input 0 Input_0_1 BOOL Digital input 1 Input_0_2...
  • Page 33 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 Digital Input Frame Variable Time stamp TRUE Time stamp (n) FALSE Time stamp (n+1) Digital Outputs The variables define the state of the digital outputs. Variable Data type Explanation Output_0_0 BOOL Digital output 0 Output delay (underway) This variable defines the time at which the output is set.
  • Page 34 Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH If synchronised with DC: Digital Output Frame Variable Output delay TRUE Output delay (n) FALSE Output delay (n+1) Analogue Outputs (Counter/Posi2.5V only) These variables define the voltage reading of the analogue outputs.

  • Page 35: Examples

    Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 Examples Enable Counter The counter remains enabled for as long as variable "EnableCounter_1" is TRUE. Term2_EnableCounter_1:=TRUE; (*Enables the counter*) Term2_Counting_1; (*TRUE if the counter is enabled*) Term2_Clockwise_1; (*TRUE if counting up*) Set / Clear Counter A rising edge of "SetCounter_1"...
  • Page 36 Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH Set Preset Value A rising edge of "SetPreset_1" accepts the value of "SetValue_1" as the preset value. "PresetSet_1=TRUE" indicates that the function is running. Returning "SetPreset_1" to FALSE also returns "PresetSet_1" to FALSE.
  • Page 37 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 Every Ref signal is to set the counter to the preset value (2000). The counter is to count down to 0 within one encoder revolution. (The incremental encoder's sense of rotation sets the counting direction.) PROGRAM Referencing bInit: BOOL := TRUE ;...
  • Page 38 Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH Term2_EnableReferencing_1:=FALSE; Step:=0; (*Restart referencing at next revolution.*) END_IF END_CASE END_IF Capture Mode (Capture) A falling edge of digital input 1 can be used to trigger writing the current counter reading. Status bit "Captured_1" indicates the capture event. Use "ResetCaptured_1" to reset and enable "Captured_1"...

  • Page 39: Technical Data

    Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 Technical Data Counter2 5V Encoder* ............2 A, B, Ref *Connect unused encoder signals to +5V Encoder type ..........RS422, 5V, 24VDC Counting frequency ........RS422: 200 kHz. 24V: 200 kHz Digital inputs ..........8 Rising delay ...........

  • Page 40: Counter / Encoder

    Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 5.1.2 Counter / Encoder Front view and I/O connection I/O connection Front view I/O-Modul Counter / Encoder (E 747GB-V2) 17 May 2021...

  • Page 41: Status Leds

    Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Status LEDs "EtherCAT" LED The LED labelled "EtherCAT" indicates the state of the EtherCAT ASIC. State LED flash code Explanation Init Initialising, no data exchange Pre-Op Off/green, 1:1 Pre-operational, no data exchange...
  • Page 42 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Status LEDs of IOs The status LEDs of the IOs are indicative of the state of each of the digital I/Os. Kanal Kanal Beschreibung A+/CLK+ A+/CLK+ Incremental encoder: A-/CLK- A-/CLK- The LEDs indicate the signal status of the incremental encoder track.

  • Page 43: Function

    Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Function The Kuhnke FIO MIX 04 module has 4 analogue inputs for recording current or voltage values and 4 analogue outputs for outputting analogue current or voltage values. Furthermore the Kuhnke FIO Mix 04 module has 2 counter / encoder interfaces for the connection of incremental encoders or absolute value position encoders with SSI or EnDat interface.

  • Page 44: Encoder Interface

    Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Encoder interface The universal encoder interface offers a wide range of possibilities for the acquisition of angles, positions and pulses to be counted. The following encoders can be connected: ...

  • Page 45: Encoder Interface Configuration - Ssi Encoder

    Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Encoder interface configuration – SSI Encoder Object overview Slot Object Explanation Enc1 0x2100 Enc1 Digital Interface Type 65 SSI (Is assigned automatically via the module) Enc2 0x2900 Enc2 Digital Interface Type...

  • Page 46: Encoder Interface Configuration - Endat Encoder

    Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Encoder interface configuration – ENDAT Encoder Object overview Slot Object Explanation Enc1 0x2100 Enc1 Digital Interface Type 69 EnDat (Is assigned automatically via the module) Enc2 0x2900 Enc2 Digital Interface Type...

  • Page 47: Encoder Interface Configuration - Event Counter

    Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Encoder interface configuration – Event counter Object overview Slot Object Explanation 80 event counter (Is assigned automatically via the Enc1 0x2100 Enc1 Digital Interface Type module) Enc2 Sub 01 (Level): 0=HTL, 1=TTL...

  • Page 48: Encoder Interface Configuration - User-Defined Units

    Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Encoder interface configuration – User-defined units Besides the output of the position value in increments, the position value can also be output in user-defined units in REAL format. This applies to the use of incremental, SSI and ENDAT encoders.

  • Page 49: Object Dictionary

    Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Object dictionary The Kuhnke FIO MIX 04 is divided into 3 virtual devices. The objects are structured as follows 0x1000 … 0x1FFF Device specific 0x2000 … 0x23FF Manufacture specific: Counter / Encoder 1 0x2800 …...
  • Page 50 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x1000 Device type Object Code Variable 0x00 Name Device type Data Type UNSIGNED32 Access Defaultvalue 5001 (0x1389) PDO Mapping 5001 = Modular Device Profile 0x1001 Error register Object Code Variable...
  • Page 51 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x1003 Pre-defined error field Object Code Array 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Standard error field 1 Data Type...
  • Page 52 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x05 Name Standard error field 5 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping Accessname Pre-definederrorfield[4] 0x06 Name Standard error field 6 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping Accessname Pre-definederrorfield[5]...
  • Page 53 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Error Register Error Origin Sub-Number Error Code Error Register [31 … 24] Copy of object 0x1001 after triggering the error Error Origin [23 … 20] Error source in the device...
  • Page 54 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x1008 Manufacturer device name Object Code Variable 0x00 Name Manufacturer device name Data Type VISIBLE_STRING Access Defaultvalue Counter/Encoder (694.454.53) PDO Mapping 0x1009 Manufacturer hardware version Object Code Variable 0x00 Name...
  • Page 55 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x1018 Identity object Object Code Record 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue 0x04 PDO Mapping 0x01 Name Vendor-ID Data Type UNSIGNED32 Access Defaultvalue 0x48554B PDO Mapping...
  • Page 56 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x10f1 Error Settings Object Code Record 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Local Error Reaction Data Type UNSIGNED32 Access Defaultvalue PDO Mapping...
  • Page 57 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x1601 Digital Interface Control Encoder 1 Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type...
  • Page 58 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x1602 Digital Interface Control Encoder 2 Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type...
  • Page 59 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x1a05 Rotary Encoder SD Encoder 1 Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type...
  • Page 60 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x1a06 Event Counter Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access...
  • Page 61 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) PDO Mapping 0x06 Name Mapping Entry 6 Data Type UNSIGNED32 Access Defaultvalue 0x24080620 PDO Mapping 0x07 Name Mapping Entry 7 Data Type UNSIGNED32 Access Defaultvalue 0x20010008 PDO Mapping Each subindex (1-8) describes one mapped object. A mapping entry consists of four bytes which are...
  • Page 62 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH PDO Mapping 0x03 Name Mapping Entry 3 Data Type UNSIGNED32 Access Defaultvalue 0x28010008 PDO Mapping Each subindex (1-8) describes one mapped object. A mapping entry consists of four bytes which are...
  • Page 63 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Defaultvalue PDO Mapping 0x04 Name Subindex 4 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x1c12 Sync Manager 2 PDO Assignment Object Code Array 0x00 Name Highest subindex supported Data Type...
  • Page 64 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x1c13 Sync Manager 3 PDO Assignment Object Code Array 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Subindex Data Type...
  • Page 65 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x02 Name Cycle Time Data Type UNSIGNED32 Access Defaultvalue 0x20 PDO Mapping 0x04 Name Synchronization Types supported Data Type UNSIGNED16 Access Defaultvalue 0x10 PDO Mapping 0x05 Name Minimum Cycle Time...
  • Page 66 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Access Defaultvalue 0x20 PDO Mapping 0x0b Name SM-Event missed Data Type UNSIGNED16 Access Defaultvalue 0x10 PDO Mapping 0x0c Name Cycle time too small Data Type UNSIGNED16 Access Defaultvalue 0x10 PDO Mapping...
  • Page 67 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Name Cycle Time Data Type UNSIGNED32 Access Defaultvalue 0x20 PDO Mapping 0x04 Name Synchronization Types supported Data Type UNSIGNED16 Access Defaultvalue 0x10 PDO Mapping 0x05 Name Minimum Cycle Time Data Type...
  • Page 68 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Defaultvalue 0x20 PDO Mapping 0x0b Name SM-Event missed Data Type UNSIGNED16 Access Defaultvalue 0x20 PDO Mapping 0x0c Name Cycle time too small Data Type UNSIGNED16 Access Defaultvalue 0x10 PDO Mapping...
  • Page 69 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2003 Enc1 Preset Value Signed Object Code Variable 0x00 Name Enc1 Preset Value Signed Data Type INTEGER32 Access Defaultvalue PDO Mapping Accessname Enc1PresetValueSigned Offset value 0x2004 Enc1 Position Value Signed...
  • Page 70 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH PDO Mapping Accessname Enc1HighResolutionPresetValueSigned High Resolution Offset Wert 0x2014 Enc1 Linear Position Value Object Code Variable 0x00 Name Enc1 Linear Position Value Data Type REAL32 Access Defaultvalue PDO Mapping optional, TPDO only...
  • Page 71 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2031 Enc1 Linear Speed Value Object Code Variable 0x00 Name Enc1 Linear Speed Value Data Type REAL32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1LinearSpeedValue Speed value in user units...
  • Page 72 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Accessname Enc1PositionEncoderResolution.EncoderIncrements 0x02 Name Motor Revolutions Data Type UNSIGNED32 Access Defaultvalue 0x00000001 PDO Mapping Accessname Enc1PositionEncoderResolution.MotorRevolutions Unit Conversion: �������������� �������������������� 208��: 01 ���������� �������������������� 208��: 02 (E 747GB-V2) 17 May 2021...
  • Page 73 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2091 Enc1 Gear Ratio Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Motor Shaft Revolutions Data Type UNSIGNED32 Access Defaultvalue 0x00000001 PDO Mapping Accessname Enc1GearRatio.MotorShaftRevolutions...
  • Page 74 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2092 Enc1 Feed Constant Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Feed Data Type UNSIGNED32 Access Defaultvalue 0x00000064 PDO Mapping Accessname Enc1FeedConstant.Feed...
  • Page 75 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2100 Enc1 Digital Interface Type Object Code Variable 0x00 Name Enc1 Digital Interface Type Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname Enc1DigitalInterfaceType Settings of the connected encoder: 64 Encoder (default)
  • Page 76 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2102 Enc1 Digital Interface Status Object Code Variable 0x00 Name Enc1 Digital Interface Status Data Type UNSIGNED16 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1DigitalInterfaceStatus Ref: 0 = Encoder is not referenced...
  • Page 77 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Enc1DigitalInterfaceConfig.Enc1Encoder: Accessname Mode 0x03 Name Enc1 Encoder: Index level Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Enc1DigitalInterfaceConfig.Enc1Encoder:I Accessname ndexlevel 0x04 Name Enc1 SSI: Use grey code Data Type UNSIGNED8 Access...
  • Page 78 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 1 Count falling edges 3 Count both edges 0x2110 Enc1 Digital Interface Bit Size Object Code Variable 0x00 Name Enc1 Digital Interface Bit Size Data Type UNSIGNED8 Access Defaultvalue PDO Mapping...
  • Page 79 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2122 Enc1 Encoder Track ABRef Object Code Variable 0x00 Name Enc1 Encoder Track ABRef Data Type UNSIGNED8 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1EncoderTrackABRef Signal level at the corresponding encoder track...
  • Page 80 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2408 Event Counter Count Object Code Record 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Event Counter Channel 1 Data Type UNSIGNED32 Access Defaultvalue...
  • Page 81 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x05 Name Event Counter Channel 5 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname EventCounterCount.EventCounterChannel5 0x06 Name Event Counter Channel 6 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping...
  • Page 82 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x00 Name Enc2 Position Value Signed Data Type INTEGER32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2PositionValueSigned 0x2808 Enc2 High Resolution Position Value Signed Object Code Variable 0x00 Enc2 High Resolution Position Value...
  • Page 83 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2814 Enc2 Linear Position Value Object Code Variable 0x00 Name Enc2 Linear Position Value Data Type REAL32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2LinearPositionValue 0x2815 Enc2 Linear Position Preset Value...
  • Page 84 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2832 Enc2 Speed Value Filter Select Object Code Variable 0x00 Name Enc2 Speed Value Filter Select Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname Enc2SpeedValueFilterSelect 0x288f Enc2 Position Encoder Resolution...
  • Page 85 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2891 Enc2 Gear Ratio Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Motor Shaft Revolutions Data Type UNSIGNED32 Access Defaultvalue 0x00000001 PDO Mapping Accessname Enc2GearRatio.MotorShaftRevolutions...
  • Page 86 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2892 Enc2 Feed Constant Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Feed Data Type UNSIGNED32 Access Defaultvalue 0x00000001 PDO Mapping Accessname Enc2FeedConstant.Feed...
  • Page 87 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2900 Enc2 Digital Interface Type Object Code Variable 0x00 Name Enc2 Digital Interface Type Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname Enc2DigitalInterfaceType Settings of the connected encoder: 64 Encoder...
  • Page 88 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2902 Enc2 Digital Interface Status Object Code Variable 0x00 Name Enc2 Digital Interface Status Data Type UNSIGNED16 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2DigitalInterfaceStatus Ref: 0 = Encoder is not referenced...
  • Page 89 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Accessname Enc2DigitalInterfaceConfig.Enc2Encoder:Mode 0x03 Name Enc2 Encoder: Index level Data Type UNSIGNED8 Access Defaultvalue 0 Mapping Accessname Enc2DigitalInterfaceConfig.Enc2Encoder:Indexlevel 0x04 Name Enc2 SSI: Use grey code Data Type UNSIGNED8 Access Defaultvalue 0 Mapping Accessname Enc2DigitalInterfaceConfig.Enc2SSI:Usegreycode...
  • Page 90 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Subindex 05 (Event Counter: Sensitivity) 0 Count rising edges (default) 1 Count falling edges 3 Count both edges 0x2910 Enc2 Digital Interface Bit Size Object Code Variable 0x00 Name Enc1 Digital Interface Bit Size...
  • Page 91 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2920 Enc2 Index Capture Value Object Code Variable 0x00 Name Enc2 Index Capture Value Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2IndexCaptureValue 0x2921 Enc2 Capture Input Value...
  • Page 92 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Defaultvalue PDO Mapping Accessname Enc2ErrorCode See table object 0x1003 Pre-defined error field 0x6000 Enc1 Operating Parameters Object Code Variable 0x00 Name Enc1 Operating Parameters Data Type UNSIGNED16 Access Defaultvalue PDO Mapping...
  • Page 93 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) PDO Mapping Accessname Enc1PresetValue Offset values 0x6004 Enc1 Position Value Object Code Variable 0x00 Name Enc1 Position Value Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1PositionValue...
  • Page 94 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x600b Enc1 High Resolution Raw Value Object Code Variable 0x00 Name Enc1 High Resolution Raw Value Data Type UNSIGNED64 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1HighResolutionRawValue 64- Bit raw encoder value without offsets and homing and index...
  • Page 95 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x6031 Enc1 Speed Parameters Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Enc1 Speed Source Selector Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname Enc1SpeedParameters.Enc1SpeedSourceSelector...
  • Page 96 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Accessname Enc1SpeedParameters.Enc1Dividervalue Sub 01: 4= Use Object 0x600B Sub 02: Integration time in [ms] Sub 03: Conversion factor for velocity calculation, result in 0x6030 Sub 04: Conversion devider for velocity calculation, result in 0x6030...
  • Page 97 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x6802 Enc2 Total Measuring Range Object Code Variable 0x00 Name Enc2 Total Measuring Range Data Type UNSIGNED32 Access Defaultvalue 4000 PDO Mapping Accessname Enc2TotalMeasuringRange Encoder resolution. With setting "Single Turn" relevant for the overflow...
  • Page 98 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x6808 Enc2 High Resolution Position Value Object Code Variable 0x00 Name Enc2 High Resolution Position Value Data Type UNSIGNED64 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2HighResolutionPositionValue 5.1.2.1.1 0x6809 Enc2 High Resolution Preset Value...
  • Page 99 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x680c Enc2 Position Raw Value Object Code Variable 0x00 Name Enc2 Position Raw Value Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2PositionRawValue 32- Bit raw encoder value without offsets and homing and index...
  • Page 100 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x6831 Enc2 Speed Parameters Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Enc2 Speed Source Selector Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname Enc2SpeedParameters.Enc2SpeedSourceSelector...
  • Page 101 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) High Limit 65535 PDO Mapping Accessname Enc2SpeedParameters.Enc2Dividervalue Sub 01: 4= Use Object 0x680B Sub 02: Integration time in [ms] Sub 03: Conversion factor for velocity calculation, result in 0x6830 Sub 04:...

  • Page 102: Technical Data

    Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Technical Data General Order no............694.454.53 I/O Supply ............24 VDC (-20% / +25%) Dimensions WxHxD ........25 x 120 x 90 mm Mounting ............35 mm DIN-top hat rail Storage temperature ........

  • Page 103: Kuhnke Fio Drive Control

    Kendrion Kuhnke Automation GmbH Drive Control 5.1.3 Kuhnke FIO Drive Control There is a separate instruction manual available for Kuhnke FIO Drive Control from the FIO range. For further information, please click the link below. Link to the documentation: http://productfinder.kuhnke.kendrion.com/de...

  • Page 104: Kuhnke Fio Cam Control

    CAM Control Kendrion Kuhnke Automation GmbH 5.1.4 Kuhnke FIO CAM Control There is a separate instruction manual available for Kuhnke FIO CAM Control from the FIO range. For further information, please click the link below. Link to the documentation: http://productfinder.kuhnke.kendrion.com/de...

  • Page 105: Mixed Modules

    Kendrion Kuhnke Automation GmbH Mix 02 5.2 Mixed Modules 5.2.1 MIX 02 I/O connection Front view of I/O module MIX 02 Terminals IO connection, male 36-pin Side Trm. Signal Explanation 0..15 DO8..DO23 digital outputs 8..23 left 16, 17 +24VDC, 0V module power supply to CPU 0..7...

  • Page 106: Status Leds

    Mix 02 Kendrion Kuhnke Automation GmbH RS484 Port Female 4-pin Molex Micro Fit Pin Signal Explanation DGND data earth potential (reference potential of TxD/RxD) earth potential RxD/TxD-P Data + RxD/TxD-N Data - Status LEDs LED "RN" The LED labelled "RN" indicates the state of the EtherCAT ASIC.
  • Page 107 Kendrion Kuhnke Automation GmbH Mix 02 The process data objects stored as variables in the EtherCAT master's control program are used to access the IOs and the module state. Service data objects (SDO) are available for details and settings. You may run the configuration tool offline to change some settings of module MIX 02 (such as the RS485 baud rate).
  • Page 108 Mix 02 Kendrion Kuhnke Automation GmbH You can also use the SDO transfer components available for the EtherCAT master to change settings at runtime and to handle RS485 data transfer. Inputs The following input values apply to group Inputs: Variable...
  • Page 109 Kendrion Kuhnke Automation GmbH Mix 02 AnalogIn2_Sample0 UINT Analogue input 2, sample n AnalogIn2_Sample1 UINT Analogue input 2, sample n+1 AnalogIn2_Sample2 UINT Analogue input 2, sample n+2 AnalogIn2_Sample3 UINT Analogue input 2, sample n+3 AnalogIn2_Sample4 UINT Analogue input 2, sample n+4...
  • Page 110 Mix 02 Kendrion Kuhnke Automation GmbH Variable Data type Explanation DigitalOutput24 BOOL Digital output 24 Object Dictionary Index Name Type Default Access 1000 Device Type UINT32 0xF0191 1008 Device Name String MIX 02 1009 Hardware Version String 100A Software Version String 2.00...
  • Page 111 Kendrion Kuhnke Automation GmbH Mix 02 synchronised with DC (DC=Distributed Clocks) Analogue Inputs / Oversampling Synchronised with SM The module measures 4 analogue values per millisecond and adds or does not add them to the process image, depending on what the Oversampling parameter (Object Index 0x2000) is set to. The default is 5.
  • Page 112 Mix 02 Kendrion Kuhnke Automation GmbH Thus, analogue samples are read and added to Sample 0 of the process image every millisecond. Sample1 to 4 stay 0. The SampleCycleCounter increments after 1 ms. RS485 Object 0x2001 sets the RS485 baud rate.
  • Page 113 Kendrion Kuhnke Automation GmbH Mix 02 Reading are or are not added to the process image, depending on what the oversampling parameter is set to. The default is 5. This setting refreshes the entire set of analogue values in the process images after 5 ms (check how the counter in the StateWord increments).

  • Page 114: Technical Data

    Mix 02 Kendrion Kuhnke Automation GmbH Technical Data Digital inputs ..........4 (8) DI0..3 0.1ms DI5..7 0.001ms Counter (DI5) ..........500kHz (up to 1 MHz)2 Digital outputs ..........24 DO0..7: 0.5A DO8..23: 0.1A Analogue inputs ..........4 x 0..10V Resolution ............12 bit Sampling rate..........

  • Page 115: Mix 04

    Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 5.2.2 MIX 04 Front view and I/O connection I/O connection Front view I/O-Module MIX 04 (E 747GB-V2) 17 May 2021...

  • Page 116: Status Leds

    MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC. State LED flash code Explanation Init Initialising, no data exchange Pre-Op Off/green, 1:1 Pre-operational, no data exchange...

  • Page 117: Function

    Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) LEDs "Channel" The channel LEDs indicates the state of the In-/Output-Signals. Channel Channel Explanation   AI0+ AI2+ 2-color LED: Analogue input activated, Error AI0- AI2-   AI1+ AI3+ 2- color LED: Analogue input activated, Error...

  • Page 118: Module Configuration

    MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Module configuration The configuration of the analogue inputs and outputs as well as the counter/encoder interfaces is done via pluggable modules that are inserted into the corresponding slots. One slot corresponds to one analogue channel or one counter/encoder interface.

  • Page 119: Configuration - Overview Of Pluggable Modules

    Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Configuration - Overview of pluggable modules Slot Slot name Function Module code Module function 192361001 AI0 Voltage Analogue Input AI0 192361002 AI0 Current 0..20mA 192361003 AI0 Current 4..20mA 192361004 AI1 Voltage...

  • Page 120: Encoder Interface

    MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Encoder interface The universal encoder interface offers a wide range of possibilities for the acquisition of angles, positions and pulses to be counted. The following encoders can be connected:  Inkremental encoder with RS422 interface (RS422) ...

  • Page 121: Encoder Interface Configuration - Ssi Encoder

    Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Encoder interface configuration – SSI Encoder Object overview Slot Object Explanation Enc1 0x2100 Enc1 Digital Interface Type 65 SSI (Is assigned automatically via the module) Enc2 0x2900 Enc2 Digital Interface Type...

  • Page 122: Encoder Interface Configuration - Endat Encoder

    MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Encoder interface configuration – ENDAT Encoder Object overview Slot Object Explanation Enc1 0x2100 Enc1 Digital Interface Type 69 EnDat (Is assigned automatically via the module) Enc2 0x2900 Enc2 Digital Interface Type...

  • Page 123: Encoder Interface Configuration - Event Counter

    Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Encoder interface configuration – Event counter Object overview Slot Object Explanation Enc1 0x2100 Enc1 Digital Interface Type 80 event counter (Is assigned automatically via the module) Enc2 0x2900 Enc2 Digital Interface Type...

  • Page 124: Encoder Interface Configuration - User-Defined Units

    MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Encoder interface configuration – User-defined units Besides the output of the position value in increments, the position value can also be output in user-defined units in REAL format. This applies to the use of incremental, SSI and ENDAT encoders.

  • Page 125: Analogue Interface Configuration - Analogue Inputs

    Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Analogue interface configuration – Analogue inputs Object overview Slot Object Subindex Explanation 0x7110 AISensorType Is assigned automatically via the module 0x7120 AIInputScaling1FV Scaling of the analogue input values by specifying 0x7122 AIInputScaling2FV interpolation points.

  • Page 126: Analogue Interface Configuration - Analogue Outputs

    MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Analogue interface configuration – Analogue outputs Object overview Slot Object Subindex Explanation Object to output the scaled analogue values as real 0x7300 AOOutputPV value. 0x7310 AOOutputType Is assigned automatically via the plugged module...

  • Page 127: Object Dictionary

    Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Object dictionary The Kuhnke FIO MIX 04 is divided into 3 virtual devices. The objects are structured as follows 0x1000 … 0x1FFF Device specific 0x2000 … 0x23FF Manufacture specific: Counter / Encoder 1 0x2800 …...
  • Page 128 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH COM: Communication PROF: Device profile RES: reserved, always „0“ MAN: Manufacturer specific 0x1003 Pre-defined error field Object Code Array 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue Low Limit...
  • Page 129 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Defaultvalue PDO Mapping Accessname Pre-definederrorfield[3] 0x05 Name Standard error field 5 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping Accessname Pre-definederrorfield[4] 0x06 Name Standard error field 6 Data Type UNSIGNED32 Access Defaultvalue...
  • Page 130 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Error Register Error Origin Sub-Number Error Code Error Register [31 … 24] Copy of object 0x1001 after triggering the error Error Origin [23 … 20] Error source in the device Module / Logical Device overlapping...
  • Page 131 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x1008 Manufacturer device name Object Code Variable 0x00 Name Manufacturer device name Data Type VISIBLE_STRING Access Defaultvalue Mix04 (694.444.64) PDO Mapping 0x1009 Manufacturer hardware version Object Code Variable 0x00 Name Manufacturer hardware version...
  • Page 132 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x1018 Identity object Object Code Record 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue 0x04 PDO Mapping 0x01 Name Vendor-ID Data Type UNSIGNED32 Access Defaultvalue 0x48554B PDO Mapping 0x02...
  • Page 133 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x10f1 Error Settings Object Code Record 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Local Error Reaction Data Type UNSIGNED32 Access Defaultvalue PDO Mapping 0x02...
  • Page 134 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x10f8 Timestamp Object Object Code Variable 0x00 Name Timestamp Object Data Type UNSIGNED64 Access Defaultvalue PDO Mapping optional, TPDO only 0x1600 Analogue Interface Control Object Code Record 0x00 Name SubIndex 000...
  • Page 135 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x1601 Digital Interface Control Encoder 1 Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type...
  • Page 136 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Index[16] Bit 31..16 Index of the object to be mapped SubIndex[8] Bit 15..8 Subindex of the object to be mapped Length[8] Bit 7..0 Length of the object to be mapped 0x1603 AO0 Output Value...
  • Page 137 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Defaultvalue 0x73300208 PDO Mapping Each subindex (1-8) describes one mapped object. A mapping entry consists of four bytes which are composed as follows: Index[16] Bit 31..16 Index of the object to be mapped SubIndex[8] Bit 15..8...
  • Page 138 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access Defaultvalue 0x73300408 PDO Mapping Each subindex (1-8) describes one mapped object. A mapping entry consists of four bytes which are composed as follows: Index[16] Bit 31..16...
  • Page 139 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access Defaultvalue 0x71000108 PDO Mapping Each subindex (1-8) describes one mapped object. A mapping entry consists of four bytes which are...
  • Page 140 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x1a03 AI2 Input Value Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access...
  • Page 141 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Index[16] Bit 31..16 Index of the object to be mapped SubIndex[8] Bit 15..8 Subindex of the object to be mapped Length[8] Bit 7..0 Length of the object to be mapped 0x1a05 Rotary Encoder SD Encoder 1...
  • Page 142 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x1a06 Event Counter Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access Defaultvalue...
  • Page 143 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) PDO Mapping 0x06 Name Mapping Entry 6 Data Type UNSIGNED32 Access Defaultvalue 0x24080620 PDO Mapping 0x07 Name Mapping Entry 7 Data Type UNSIGNED32 Access Defaultvalue 0x20010008 PDO Mapping Each subindex (1-8) describes one mapped object. A mapping entry consists of four bytes which are...
  • Page 144 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x1a07 Rotary Encoder SD Encoder 2 Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type...
  • Page 145 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x1c00 Sync Manager Communication Type Object Code Array 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Subindex 1 Data Type UNSIGNED8...
  • Page 146 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x1c12 Sync Manager 2 PDO Assignment Object Code Array 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Subindex Data Type UNSIGNED16...
  • Page 147 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x1c13 Sync Manager 3 PDO Assignment Object Code Array 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Subindex Data Type UNSIGNED16...
  • Page 148 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x1c32 Sync Manager 2 Synchronization Object Code Record 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Synchronization Type Data Type UNSIGNED16...
  • Page 149 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) PDO Mapping 0x08 Name Get Cycle Time Data Type UNSIGNED16 Access Defaultvalue 0x10 PDO Mapping 0x09 Name Delay Time Data Type UNSIGNED32 Access Defaultvalue 0x20 PDO Mapping 0x0a Name Sync0 Cycle Time...
  • Page 150 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x1c33 Sync Manager 3 Synchronization Object Code Record 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Synchronization Type Data Type UNSIGNED16...
  • Page 151 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) PDO Mapping 0x08 Name Get Cycle Time Data Type UNSIGNED16 Access Defaultvalue 0x20 PDO Mapping 0x09 Name Delay Time Data Type UNSIGNED32 Access Defaultvalue 0x10 PDO Mapping 0x0a Name Sync0 Cycle Time...
  • Page 152 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2001 Enc1 Error Register Object Code Variable 0x00 Name Enc1 Error Register Data Type UNSIGNED8 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1ErrorRegister 0x2003 Enc1 Preset Value Signed Object Code...
  • Page 153 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2004 Enc1 Position Value Signed Object Code Variable 0x00 Name Enc1 Position Value Signed Data Type INTEGER32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1PositionValueSigned 0x2008 Enc1 High Resolution Position Value Signed...
  • Page 154 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2009 Enc1 High Resolution Preset Value Signed Object Code Variable 0x00 Enc1 High Resolution Preset Value Name Signed Data Type INTEGER64 Access Defaultvalue PDO Mapping Accessname Enc1HighResolutionPresetValueSigned High Resolution Offset Wert...
  • Page 155 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2015 Enc1 Linear Position Preset Value Object Code Variable 0x00 Name Enc1 Linear Position Preset Value Data Type REAL32 Access Defaultvalue PDO Mapping Accessname Enc1LinearPositionPresetValue Position offset in user units 0x2030 Enc1 High Resolution Speed Value...
  • Page 156 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Accessname Enc1SpeedValueFilterSelect Configuration object for speed calculation 0 no filter 10 PT1-filter 11 Integration (Default) 0x208f Enc1 Position Encoder Resolution Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access...
  • Page 157 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2091 Enc1 Gear Ratio Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Motor Shaft Revolutions Data Type UNSIGNED32 Access Defaultvalue 0x00000001 PDO Mapping Accessname Enc1GearRatio.MotorShaftRevolutions...
  • Page 158 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2092 Enc1 Feed Constant Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Feed Data Type UNSIGNED32 Access Defaultvalue 0x00000064 PDO Mapping Accessname Enc1FeedConstant.Feed...
  • Page 159 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2100 Enc1 Digital Interface Type Object Code Variable 0x00 Name Enc1 Digital Interface Type Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname Enc1DigitalInterfaceType Settings of the connected encoder: 64 Encoder (default)
  • Page 160 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Accessname Enc1DigitalInterfaceStatus Ref: 0 = Encoder is not referenced 1 = Encoder is referenced Dir: 0 = Clockwise 1 = Counter clockwise 0x2103 Enc1 Digital Interface Config Object Code Record 0x00...
  • Page 161 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Enc1DigitalInterfaceConfig.Enc1Encoder:I Accessname ndexlevel 0x04 Name Enc1 SSI: Use grey code Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Enc1DigitalInterfaceConfig.Enc1SSI:Useg Accessname reycode 0x05 Name Enc1 Event Counter: Sensitivity Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Enc1DigitalInterfaceConfig.Enc1EventCou...
  • Page 162 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2110 Enc1 Digital Interface Bit Size Object Code Variable 0x00 Name Enc1 Digital Interface Bit Size Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname Enc1DigitalInterfaceBitSize SSI / ENDAT: Resolution of the encoder according to data sheet...
  • Page 163 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2120 Enc1 Index Capture Value Object Code Variable 0x00 Name Enc1 Index Capture Value Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1IndexCaptureValue 0x2122 Enc1 Encoder Track ABRef...
  • Page 164 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2408 Event Counter Count Object Code Record 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Event Counter Channel 1 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping...
  • Page 165 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x05 Name Event Counter Channel 5 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname EventCounterCount.EventCounterChannel5 0x06 Name Event Counter Channel 6 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping...
  • Page 166 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2804 Enc2 Position Value Signed Object Code Variable 0x00 Name Enc2 Position Value Signed Data Type INTEGER32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2PositionValueSigned 0x2808 Enc2 High Resolution Position Value Signed...
  • Page 167 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2814 Enc2 Linear Position Value Object Code Variable 0x00 Name Enc2 Linear Position Value Data Type REAL32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2LinearPositionValue 0x2815 Enc2 Linear Position Preset Value...
  • Page 168 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2832 Enc2 Speed Value Filter Select Object Code Variable 0x00 Name Enc2 Speed Value Filter Select Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname Enc2SpeedValueFilterSelect 0x288f Enc2 Position Encoder Resolution Object Code...
  • Page 169 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2891 Enc2 Gear Ratio Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Motor Shaft Revolutions Data Type UNSIGNED32 Access Defaultvalue 0x00000001 PDO Mapping Accessname Enc2GearRatio.MotorShaftRevolutions...
  • Page 170 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x02 Name Shaft Revolutions Data Type UNSIGNED32 Access Defaultvalue 0x00000064 PDO Mapping Accessname Enc2FeedConstant.ShaftRevolutions 0x2900 Enc2 Digital Interface Type Object Code Variable 0x00 Name Enc2 Digital Interface Type Data Type UNSIGNED8...
  • Page 171 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2902 Enc2 Digital Interface Status Object Code Variable 0x00 Name Enc2 Digital Interface Status Data Type UNSIGNED16 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2DigitalInterfaceStatus Ref: 0 = Encoder is not referenced...
  • Page 172 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Accessname Enc2DigitalInterfaceConfig.Enc2Encoder:Mode 0x03 Name Enc2 Encoder: Index level Data Type UNSIGNED8 Access Defaultvalue 0 Mapping Accessname Enc2DigitalInterfaceConfig.Enc2Encoder:Indexlevel 0x04 Name Enc2 SSI: Use grey code Data Type UNSIGNED8 Access Defaultvalue 0 Mapping Accessname Enc2DigitalInterfaceConfig.Enc2SSI:Usegreycode...
  • Page 173 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 1 Grey coded binary Subindex 05 (Event Counter: Sensitivity) 0 Count rising edges (default) 1 Count falling edges 3 Count both edges 0x2910 Enc2 Digital Interface Bit Size Object Code Variable...
  • Page 174 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2921 Enc2 Capture Input Value Object Code Variable 0x00 Name Enc2 Capture Input Value Data Type INTEGER64 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2CaptureInputValue 0x2922 Enc2 Encoder Track ABRef...
  • Page 175 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x3001 AI/AO Error Register Object Code Variable 0x00 Name AI/AO Error Register Data Type UNSIGNED8 Access Defaultvalue PDO Mapping optional, TPDO only Accessname AI/AOErrorRegister See object 0x1001 Error register 0x3011 AIChannelControl...
  • Page 176 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x04 Name Channel Control AI3 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping optional, RPDO only Accessname AIChannelControl.ChannelControlAI3 COMP ACT: 0 = Input not active 1 = Input active SCAL: 0 = Scale input values with faktor and offset...
  • Page 177 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Accessname AIChannelStatus[1] 0x03 Name Channel Status AI2 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping optional, TPDO only Accessname AIChannelStatus[2] 0x04 Name Channel Status AI3 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping...
  • Page 178 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x3125 AIInputCalibrationGain Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input calibration gain 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIInputCalibrationGain.AIInputcalibrationgain0...
  • Page 179 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x313f AI/AO Error Code Object Code Variable 0x00 Name AI/AO Error Code Data Type UNSIGNED16 Access Defaultvalue PDO Mapping optional, TPDO only Accessname AI/AOErrorCode See table object 0x1003 Pre-defined error field...
  • Page 180 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x3202 AI/AO DeviceState Object Code Variable 0x00 Name AI/AO DeviceState Data Type UNSIGNED16 Access Defaultvalue PDO Mapping optional, TPDO only Accessname AI/AODeviceState Unused 0x6000 Enc1 Operating Parameters Object Code Variable 0x00...
  • Page 181 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 5.2.2.1.1 0x6003 Enc1 Preset Value Object Code Variable 0x00 Name Enc1 Preset Value Data Type UNSIGNED32 Access Defaultvalue PDO Mapping Accessname Enc1PresetValue Offset values 0x6004 Enc1 Position Value Object Code Variable...
  • Page 182 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x600b Enc1 High Resolution Raw Value Object Code Variable 0x00 Name Enc1 High Resolution Raw Value Data Type UNSIGNED64 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1HighResolutionRawValue 64- Bit raw encoder value without offsets and homing and index...
  • Page 183 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x6031 Enc1 Speed Parameters Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Enc1 Speed Source Selector Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname Enc1SpeedParameters.Enc1SpeedSourceSelector...
  • Page 184 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Accessname Enc1SpeedParameters.Enc1Dividervalue Sub 01: 4= Use Object 0x600B Sub 02: Integration time in [ms] Sub 03: Conversion factor for velocity calculation, result in 0x6030 Sub 04: Conversion devider for velocity calculation, result in 0x6030...
  • Page 185 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x6800 Enc2 Operating Parameters Object Code Variable 0x00 Name Enc2 Operating Parameters Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname Enc2OperatingParameters Bit 3 DIR 0 = Clockwise 1 = Counter clockwise...
  • Page 186 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x6804 Enc2 Position Value Object Code Variable 0x00 Name Enc2 Position Value Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2PositionValue 0x6808 Enc2 High Resolution Position Value Object Code...
  • Page 187 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) (E 747GB-V2) 17 May 2021...
  • Page 188 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x680c Enc2 Position Raw Value Object Code Variable 0x00 Name Enc2 Position Raw Value Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2PositionRawValue 32- Bit raw encoder value without offsets and homing and index...
  • Page 189 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Defaultvalue PDO Mapping Accessname Enc2SpeedParameters.Enc2SpeedSourceSelector 0x02 Name Enc2 Speed Integration Time Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname Enc2SpeedParameters.Enc2SpeedIntegrationTime 0x03 Name Enc2 Multiplier Value Data Type UNSIGNED16 Access Defaultvalue Low Limit...
  • Page 190 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x6d00 Enc2 Operating Status Object Code Variable 0x00 Name Enc2 Operating Status Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname Enc2OperatingStatus Bit 3 DIR 0 = Clockwise 1 = Counter clockwise...
  • Page 191 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7100 AIInputFV_Real Object Code Array 0x00 Name unnamed subindex Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input FV 0 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping optional, TPDO only...
  • Page 192 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7110 AISensorType Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI sensor type 0 Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname AISensorType.AIsensortype0...
  • Page 193 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7120 AIInputScaling1FV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input scaling 1 FV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIInputScaling1FV.AIInputscaling1FV0...
  • Page 194 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7121 AIInputScaling1PV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input scaling 1 PV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIInputScaling1PV.AIInputscaling1PV0...
  • Page 195 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7122 AIInputScaling2FV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input scaling 2 FV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIInputScaling2FV.AIInputscaling2FV0...
  • Page 196 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7123 AIInputScaling2PV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input scaling 2 PV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIInputScaling2PV.AIInputscaling2PV0...
  • Page 197 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7124 AIInputOffset Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input offset 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIInputOffset.AIInputoffset0...
  • Page 198 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7126 AIScalingFactor Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI scaling factor 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIScalingFactor.AIscalingfactor0...
  • Page 199 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7127 AIScalingOffset Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI scaling offset 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIScalingOffset.AIscalingoffset0...
  • Page 200 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7130 AIInputPV Object Code Array 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input PV 0 Data Type REAL32 Access Defaultvalue PDO Mapping optional, TPDO only...
  • Page 201 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x71a0 AIFilterType Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI0 low pass filter type Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname AIFilterType.AI0lowpassfiltertype...
  • Page 202 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x05 Name AI0 notch filter type Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname AIFilterType.AI0notchfiltertype 0x06 Name AI1 notch filter type Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname AIFilterType.AI1notchfiltertype 0x07...
  • Page 203 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x71a1 AIFilterConstant Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI filter constant 0 Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname AIFilterConstant.AIfilterconstant0...
  • Page 204 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7300 AOOutputPV Object Code Array 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO Output PV 0 Data Type REAL32 Access Defaultvalue PDO Mapping optional, RPDO only...
  • Page 205 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7310 AOOutputType Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO output type 0 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname AOOutputType.AOoutputtype0...
  • Page 206 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7312 AOOperatingMode Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO operating mode 0 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname AOOperatingMode.AOoperatingmode0...
  • Page 207 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7320 AOOutputScaling1FV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO output scaling 1 FV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AOOutputScaling1FV.AOoutputscaling1FV0...
  • Page 208 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7321 AOOutputScaling1PV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO output scaling 1 PV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AOOutputScaling1PV.AOoutputscaling1PV0...
  • Page 209 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7322 AOOutputScaling2FV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO output scaling 2 FV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AOOutputScaling2FV.AOoutputscaling2FV0...
  • Page 210 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7323 AOOutputScaling2PV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO output scaling 2 PV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AOOutputScaling2PV.AOoutputscaling2PV0...
  • Page 211 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7330 AOOutputFV_Dec Object Code Array 0x00 Name unnamed subindex Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO Output FV 0 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping optional, RPDO only...
  • Page 212 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x8100 AIInputFV_Int Object Code Array 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input FV 0 Data Type INTEGER16 Access Defaultvalue PDO Mapping optional, TPDO only...
  • Page 213 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x8331 AOOutputFV_Inc Object Code Array 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO Output FV 0 Data Type INTEGER16 Access Defaultvalue PDO Mapping optional, RPDO only...

  • Page 214: Technical Data

    MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Technical Data General Order no............694.444.64 I/O Supply ............24 VDC (-20% / +25%) Dimensions WxHxD ........25 x 120 x 90 mm Mounting ............35 mm DIN-top hat rail Storage temperature ........

  • Page 215: Accessories

    Kendrion Kuhnke Automation GmbH Accessories 6 Accessories 6.1 Power Distributor 2 x 16 Power connectors Front view of power distributor Terminals The power distribution module 2 x 16 has two separate power lines. It picks up the potential fed to connections L1 and L2 (0 VDC or 24 VDC, to the operator's discretion) and distributes its among the connections 0 to 15 along the same line.

  • Page 216: Mounting

    Accessories Kendrion Kuhnke Automation GmbH Mounting When mounting, you should make sure that you do not mount several potential distributors next to each other to prevent possible EMC problems. Please note the following connection example: Technical Data Power Distributor 2 x 16 Power connection ..........

  • Page 217: Shield Terminal

    Kendrion Kuhnke Automation GmbH Accessories 6.2 Shield Terminal Shield terminal 1x14mm Dimensions Shield terminal 2x8mm Dimensions Terminals The shield terminal assembly consists of the actual shield terminal, the terminal bracket, tweo M3x5 screws, 2 washers, and 2 spring washers. Use the 2 screws, washers and spring washers to mount the terminal bracket on the housing mount of the Kuhnke FIO module.

  • Page 218: Technical Data

    Accessories Kendrion Kuhnke Automation GmbH Technical Data Shield Terminal 2x8mm Shield terminals, 8mm........2 pcs: Part no............694.412.01 Shield Terminal 14mm Shield terminals, 14mm......... 1 pcs: Part no............694.412.02 (E 747GB-V2) 17 May 2021...

  • Page 219: Configuration

    Kendrion Kuhnke Automation GmbH Configuration 7 Configuration The EtherCAT master needs to be configured to drive the EtherCAT network. One major part of the configuration is to specify the EtherCAT slave stations. There are two ways of documenting the properties of an EtherCAT slave.
  • Page 220  Go down the list of devices, pick "EtherCAT_Master (EtherCAT Master)", and add Kuhnke Automation's "FIO Controller".  Go down the list of devices, pick "E-Bus (FIO Controller)", and add Kendrion Kuhnke Automation's "AO4 16Bit". (E 747GB-V2) 17 May 2021...
  • Page 221 Kendrion Kuhnke Automation GmbH Configuration  Now highlight "Kuhnke_FIO_AO4_16Bit" in the list of devices and make the appropriate settings on the right-hand side (see section "AO4 16Bit").  Keep repeating the last two steps until your configuration is complete. If the configuration is complete and all devices are connected to the programming PC, you can log in and run the configuration tool to test your Kuhnke FIO modules.

  • Page 222: Online Configuration

    Configuration Kendrion Kuhnke Automation GmbH Online Configuration EtherCAT allows you to scan the stations connected to an Ethernet line. The example below illustrates how to identify the actual configuration of an I/O unit consisting of a Kuhnke Controller 113, a Kuhnke FIO AI8-I module, and a Kuhnke FIO AI8-Pt/Ni/Tc module.
  • Page 223 Kendrion Kuhnke Automation GmbH Configuration  Select "Device (…..Kuhnke FIO Controller 113)" and choose "Netzwerk durchsuchen" (search network). The software now scans the Ethernet network and finds the CoDeSys3 control unit connected to it.  Now select "EtherCAT_Master" and choose "Netzwerk durchsuchen" (search network).
  • Page 224 Configuration Kendrion Kuhnke Automation GmbH  Test the EtherCAT IOs. DANGER Set outputs only if you are sure that this will cause no harm. (E 747GB-V2) 17 May 2021...

  • Page 225: Appendix

    Kendrion Kuhnke Automation GmbH Appendix 8 Appendix 8.1 Technical Data (Summarised) System Properties of Kuhnke FIO Fieldbus ............EtherCAT 100 Mbit/s Dimensions ............ 25mm x 120mm x 90mm (W x H x D) Housing mount ..........aluminium Shield ............. connects directly to the module housing Installation ............

  • Page 226: Kuhnke Fio Bus Coupler Di8 Do8

    Appendix Kendrion Kuhnke Automation GmbH Extension ............connection to first Kuhnke FIO I/O module integrated in side panel of module Diagnostics ............ LED: EtherCAT module state, EtherCAT In/Out state I/O state (summarised) state of every I/O Digital inputs ..........16, 3 ms delay Digital outputs ..........

  • Page 227: Extender

    Kendrion Kuhnke Automation GmbH Appendix Extender Kuhnke FIO Extender 2 Port Part no............694.400.02 Ports 2x RJ45 Controller Kuhnke FIO Controller 113 http://productfinder.kuhnke.kendrion.com Kuhnke FIO Controller 116 http://productfinder.kuhnke.kendrion.com Digital FIO Modules Kuhnke FIO DI16/DO16 1ms/0.5A Part no............694.450.03 Digital inputs ..........
  • Page 228 Appendix Kendrion Kuhnke Automation GmbH Kuhnke FIO DI16 1ms Part no............694.451.03 Digital inputs ..........16, 1 ms delay Kuhnke FIO DI16 2-wire Part no............694.451.43 Digital inputs ..........16, 1 ms delay +16 x 24V each max. 1A Kuhnke FIO DI32 1ms Part no.
  • Page 229 Kendrion Kuhnke Automation GmbH Appendix Output frequency ........... DC-synchron, SM-synchron Analogue outputs ........... 4 Resolution ............. 16 Bit Output signal ..........0..10V, +/- 10V, (010V: ≤22µs at 2kΩ/<200pF) 0..20mA, 4..20mA, 0..24mA, (016V: ≤25µs at 300Ω/<1mH) Output frequency ........... DC-synchron, SM-synchron Kuhnke FIO AO4, 16-Bit Part no.
  • Page 230 Appendix Kendrion Kuhnke Automation GmbH Analogue inputs ..........8 Resolution ............12 bit Measuring range ..........0 …20mA, 4…20mA Conversion time ..........290 µs (8 channels) Kuhnke FIO AI4-Pt/Ni/TC 16-Bit Part no............694.443.51 Analogue inputs ..........4 Resolution ............16 bit Measuring range ...........
  • Page 231 Kendrion Kuhnke Automation GmbH Appendix Digital outputs ..........2, load: 2.0 A, high-side semiconductor Analogue outputs ........... 2, -10V..+10 V, 12 bit Kuhnke FIO Drive Control http://productfinder.kuhnke.kendrion.com Kuhnke FIO CAM Control http://productfinder.kuhnke.kendrion.com Interface and Communication Modules Kuhnke FIO RS485 1 Port Part no.
  • Page 232 Appendix Kendrion Kuhnke Automation GmbH 8.2 Order Specifications Kuhnke FIO Modules Link to the Product Finder Part no. ID no. Power / IO connector Controller Kuhnke FIO Controller 113 694.300.13 178.445 3-pin, 10-pin Kuhnke FIO Controller 116 694.300.16 187.320 3-pin, 10-pin...
  • Page 233 Kendrion Kuhnke Automation GmbH Appendix Link to the Product Finder Part no. ID no. Power / IO connector Kuhnke FIO AI8-Pt/Ni/TC 694.443.02 184.895 36-pin Counter / Posi / Drive / CAM Modules Counter2 5V 694.444.01 182.634 36-pin Kuhnke FIO Counter/Posi2 5V 694.454.01...
  • Page 234 Kuhnke FIO connector, 36-pin, 20x 694.101.36.20 178.643 button Name Part no. ID no. Type Ventura FIO Connector (black plug, black unlock button) Spring return, unlock Ventura FIO connector, 2-pin, 1x 694.100.02.01 155.373 button Spring return, unlock Kuhnke FIO connector, 18-pin, 1x 694.100.18.01...
  • Page 235 Kendrion Kuhnke Automation GmbH Fehler! Verweisquelle konnte nicht gefunden werden. 9 Sales & Service Please visit our Internet site to find a comprehensive overview of our sales and service network including all the relevant addresses. Feel free to also contact us at our headquarters in...

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